[the.miler]

Hey Sunny,

You caught an error in my wording; it should have said "The line from the constant force spring motor was looped over a pulley at the top of the first stage and connected to bottom of the second stage to counteract the weight of the manipulator."

The third stage (manipulator stage) is slaved to the second stage (explained in the post I linked); this is why you don't need to attach the constant force spring to the third stage directly.

- Miles